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Some jetson specific ros updates.

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This commit is contained in:
Isse
2025-01-22 12:30:59 +01:00
parent 9358941e6f
commit 874f83f085
3 changed files with 50 additions and 4 deletions
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8
extras/jetson/README.md
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@ -110,3 +110,11 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros . docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
./run_container.sh ./run_container.sh
``` ```
- Run and test:
```bash
xhost +; docker compose -f extras/jetson/docker-compose.yml up
docker exec -it ros-test_node-1 bash
export ROS_DOMAIN_ID=18
```

38
extras/jetson/docker-compose.yml Normal file
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@ -0,0 +1,38 @@
version: "2.3"
# runtime: nvidia needs version 2 else change standard runtime at host pc
services:
test_node:
image: rapidposetriangulation_ros
network_mode: "host"
ipc: "host"
runtime: nvidia
privileged: true
volumes:
- ../../:/RapidPoseTriangulation/
- ../../skelda/:/skelda/
- /tmp/.X11-unix:/tmp/.X11-unix
- /dev/shm:/dev/shm
environment:
- DISPLAY
- QT_X11_NO_MITSHM=1
- "PYTHONUNBUFFERED=1"
command: /bin/bash -i -c 'sleep infinity'
estimator:
image: rapidposetriangulation_ros
network_mode: "host"
ipc: "host"
runtime: nvidia
privileged: true
volumes:
- ../../:/RapidPoseTriangulation/
- ../../skelda/:/skelda/
- /tmp/.X11-unix:/tmp/.X11-unix
- /dev/shm:/dev/shm
environment:
- DISPLAY
- QT_X11_NO_MITSHM=1
- "PYTHONUNBUFFERED=1"
command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'

8
extras/jetson/dockerfile_ros
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@ -40,12 +40,12 @@ RUN cd /project/dev_ws/; colcon build
RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
# Copy modules # Copy modules
COPY ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ COPY ./scripts/ /RapidPoseTriangulation/scripts/
COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
# Link and build as ros package # Link and build as ros package
RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
RUN ln -s /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release' RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
# Update ros packages -> autocompletion and check # Update ros packages -> autocompletion and check